Circularly magnetized non-contact torque sensor and method for measuring torque using same

ABSTRACT

A torque sensor for providing an output signal indicative of the torque applied to a rotating torqued member comprises a magnetoelastically active element for producing a magnetic field varying with the applied torque and a field modulating means for modulating the magnetic field in a periodic manner which is indicative of the speed of member rotation. A magnetic field vector sensor, such as a Hall effect sensor, senses the amplitude of the modulated field for providing an output signal which is linearly indicative of the torque applied to the rotating member. The field modulating means preferably comprises at least one ring having some uniformly spaced salient feature, such as gear-like teeth, around the periphery thereof. In one embodiment, the magnetoelastically active element comprises a ring of material endowed with an effective uniaxial magnetic anisotropy such that the circumferential direction is the easy axis, and magnetically polarized in a substantially circumferential direction. The ring is attached to the torqued member, such as a rotating shaft, so that application of a torque to the shaft is transmitted to the ring. In another embodiment, the magnetoelastically active portion includes two or more axially distinct, magnetically contiguous, oppositely polarized circumferential regions.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a Continuation application of Ser. No. 08/394,001, filed Feb.24, 1995, now U.S. Pat. No. 5,591,925, which is a Continuation-in-partof U.S. application Ser. No. 08/253,022, filed Jun. 2, 1994, now U.S.Pat. No. 5,520,059 which, in turn, is a Continuation-in-part of U.S.application Ser. No. 07/736,299, filed Jul. 29, 1991, now U.S. Pat. No.5,351,555.

FIELD OF THE INVENTION

The present invention relates to torque and power sensors and, moreparticularly, to non-contacting magnetoelastic torque and powertransducers for providing a measure of the torque and power applied to arotating shaft.

BACKGROUND OF THE INVENTION

Basic to the operation of modern machinery is the transmission ofmechanical energy from source locations to points of utilization bymeans of rotating shafts. In a typical machine the energy is firstimparted to a rotating shaft after conversion from chemical, thermal,electrical or kinetic sources within some prime mover such as an engine,turbine or motor. Machines often contain systems of shafts whoserotational motions are interconnected by couplings, belts, gears, orrelated devices in order to better match the prime mover to the load orto distribute the energy to a multiplicity of loads. Clutches betweenshafts allow for purposeful decoupling of their rotational motions. Themechanical energy imparted to the output shaft of the prime movereventually is useful work in forms and at locations that characterizethe function of the specific machine, e.g., propulsion of a vehicle,compression of a fluid, forming or machining of a manufactured part,electrical generation, etc. The ubiquity of utilization of rotatingshafts to transmit and distribute mechanical energy is readilyillustrated even with the very abbreviated listing in TABLE 1.

                  TABLE 1                                                         ______________________________________                                        Machines transmitting power with rotating shafts.                             INDUSTRY       TYPICAL MACHINE                                                ______________________________________                                        Agriculture    Tractor, Combine, Harvester                                    Construction   Concrete mixer, Crane, Excavator                               Food           Mixing, Botttling, Canning                                     Lumber/Paper   Sawing, Planing, Pulping                                       Mining/Oil     Boring, Loading, Pumping                                       Manufacturing  Machine tools, Conveying                                       Metals, Plastics                                                                             Rolling, Slitting, Extruding                                   Recreation     Ski lift, Amusement park rides                                 Textile        Weaving, Knitting, Sewing                                      Transportation Land, Sea, Air vehicles                                        ______________________________________                                    

The rate at which work is performed is termed Power. Power is alsodefined as "the time rate of transferring or transforming energy". Whenthe mechanical energy performing the work is transmitted by a rotatingshaft, power describes the rate of energy flow along the shaft.Transmitted power is thus clearly a measure of the functionality of arotating shaft. From this perspective it is clear why "output power" isthe primary quantitative factor used to rate both mechanical andelectrical prime movers. It is also understandable why so many shaftdriven machines, such as pumps and compressors, spindles on lathes,mills and grinders and other machine tools, and even some appliancessuch as vacuum cleaners and garbage disposal units, are often sized andcompared by their power capacities. On-line measurement of the poweractually being transmitted along key shafts in a machine can, byquantifying the machine's performance, enable its more precise controland adjustment and also help to ensure its safe and efficient operation.Noted departures from normally generated or utilized power can evenprovide an early indication of a developing fault.

The importance of on-line power measurement on rotating shafts inworking machinery has long been recognized with the resultingdevelopment of more or less standardized measurement methods andapparatus. Since the power transmitted through a cross section of anyshaft is the product of its instantaneous angular velocity and thetorque transferred across the section, the measurement of this powergenerally reduces to the separate measurement of these two, more basic,quantities. Whatever technologies and specific types of rotational speedand torque measuring devices are actually employed, the determination ofpower still requires the multiplication of these separately measuredquantities. Conventional power measuring instruments therefore includein the overall apparatus, besides means for measuring both speed andtorque, some computational circuitry for on-line multiplication of thesetwo, separate signals.

Speed Measurement

A great variety of methods and apparatus exist for measuring angularvelocity of rotating shafts. Many of these are classical, having been inuse for more than half a century. Speed measuring devices may beclassified into two general types: those based on counting and timingdiscrete rotational events and those which develop a measurable physicalquantity, e.g., a force or a voltage, proportional to velocity. Moderndevices employing the counting and timing principles typically usenon-contacting magnetic or optical means to sense the passage of salientfeatures on an "encoder" wheel that rotates with the shaft of interest.Magnetic encoders are now routinely incorporated directly into the ballbeatings used to support the shaft. Determining rotational speed withsuch devices requires either some form of clock (nowadays generallyincorporated into the digital computer concerned with the processing andutilization of the speed information) or some electronic "frequency tovoltage" conversion circuitry (e.g., a diode pump). A variety oftechnologies are utilized to directly develop analog indications ofrotational speed. Most common among these are "drag cup" devices basedon the forces associated with velocity dependent eddy currents. Use ofthis type of device requires the further conversion of the developedforce into a proportional electrical signal. Small, permanent magnet,electric "tachometer" generators are often used to develop dc (or ac)voltages in direct proportion to rotational speed. Devices of this typeare usually arranged to be driven by (or in synchronism with) therotating shaft of interest rather than being mounted directly thereon. Adifferent type of non-contacting tachometric device, as disclosed inU.S. Pat. No. 5,367,257, utilizes only a stationary combination of apermanent magnet and magnetic field sensor(s) to develop a signalproportional to the velocity of a conductive target, e.g., an aluminumdisc mounted on the shaft of interest. There are clearly a variety oftechnologies and a wide choice of devices suitable for developing therotational speed signals needed for on-line determination of the powerbeing transmitted by a rotating shaft.

Torque Measurements

The net (i.e., resultant) torque from all rotating shafts entering orleaving a machine having an identifiable non-rotating frame can besimply determined by measuring the reaction forces which prevent theframe from rotating. The torque on the output shaft of engines, motors,etc. is often measured in this manner, either by measuring the forcesdirectly at the mounts (U.S. Pat. No. 3,978,718) or on a torquebalancing arm of a cradled, absorption type of dynamometer within whichthe transmitted energy is converted to heat (either directly or via itsfirst conversion to electricity). Sometimes torque is inferred frommeasurements of acceleration (U.S. Pat. No. 3,729,989) or, with specificapplicability to reciprocating engines, from dynamic measurements ofcylinder pressure (U.S. Pat. No. 4,064,748). It should be clear thatsuch methods, by their very nature, are limited in applicability.

Measurement of the torque actually being transmitted on a rotating shaftgenerally relies on either the elastic or magnetoelastic properties ofthe shaft itself or of locally attached ad hoc materials. Whatever theunderlying principle at work in a particular torque measuring device,the on-line determination of power is facilitated if the measured valueof torque is presented in the form of an electrical signal. Measuringdevices of this type are classified as torque transducers.

Torque transducers relying on shaft elasticity actually measuretorsional strain, either in terms of the angular deflection over adedicated section of the shaft having a length typically 10 or moretimes its diameter, or of the unit surface strain at a gauging "point",typically only a fraction of the diameter in length. Angular deflectionsof rotating shafts are often measured by utilizing magnetic (U.S. Pat.No. 3,273,386) or optical methods to sense the time difference betweenthe passage of two, initially (circumferentially) aligned, axiallyseparated features on the shaft (e.g., gear teeth, notches, reflectivemarks). Many of the recently developed torque transducers (especiallythose aimed at power steering applications) utilize the variablepermeance associated with the twist dependent tooth/notch alignment of apair of gear-like ferromagnetic discs effectively attached near oppositeends of a high compliance "torsion bar" (U.S. Pat. No. 4,876,899). Workon differential capacitive methods for sensing the angular twist inrotating shafts for automotive applications has also been reported.Operation of most commercially available torque transducers depends onsensing the surface shear strain by the change in electrical resistanceof "strain gauges" adhesively bonded to the rotating shaft. Variousmethods are employed to bring electrical power to the gauges and toextract the electrical signal representing the torque. The reliabilitybenefits of replacing the conventional method, using brushes andslip-rings, with non-contacting methods has encouraged the developmentof several alternative designs, e.g., using rotary transformers,infra-red light energy, or radio frequency telemetry. By their nature,elastic types of torque transducers require either a long gauginglength, high compliance, or a considerable number of shaft mountedelectrical components. These requirements discourage their applicationwherever size, reliability in rugged environments and/or cost areimportant considerations.

Magnetoelastic torque transducers rely on the fundamental interaction,found in most ferromagnetic materials, between certain measurablephysical quantities generally classified separately as either an elasticor a magnetic property. The conventional constructions of these types oftransducers depend on torque induced variations in the permeability of adedicated portion either of the shaft surface itself or of a localizedarea of attached material (chosen specifically for its superiormagnetoelastic properties). These constructions have been described,analyzed and compared in detail by Fleming, ("Magnetostrictive TorqueSensors--Comparison of Branch, Cross and Solenoidal Designs," SAE PaperNo. 900264, 1990). Magnetoelastic torque transducers sense torsionalstress rather than strain and therefore are generally torsionallystiffer than similarly rated elastic types. This leads to smallerenvelope dimensions and mechanical robustness. Moreover, since thesedevices operate by an inherently non-contacting, magnetic mode ofsensing, as a class they appear better suited for the measurement oftorque on rotating shafts. However, the performance of theseconventional types of magnetoelastic torque transducers is highlydependent on magnetic excitation parameters and material variations,factors which complicate temperature compensation and calibrationstability. See, for example, U.S. Pat. Nos. 4,920,809 and 5,307,690.This makes it difficult to design low cost, mass producible units.

A different type of magnetoelastic torque transducer technology isdisclosed in U.S. Pat. No. 5,351,555, different in that acircumferentially polarized ring of magnetoelastically active materialactually creates a magnetic field that, in polarity and intensity, is anear perfect linear analog of the torque carried by a shaft on which thering is mounted. These transducers use no excitation power and requireonly a magnetic field sensor in addition to the ring to construct acomplete device. Second generation transducers, using two oppositelymagnetized rings or a single ring having contiguous regions of oppositecircular polarizations together with symmetrically located fieldsensors, also offer effective immunity to ambiguous effects of ambientmagnetic fields. See, Garshelis et al., "A Torque Transducer UtilizingTwo Oppositely Polarized Rings," IEEE Trans. Magn., Vol. 30, No. 6,1994; pp. 4629-31. Still, in many applications, realization of the fullbenefits from this basically simple, low cost and readily adaptableconstruction is hindered by a limitation of economically compatiblefield sensors. Thus while integrated circuit silicon Hall effect sensorsare available in small, standardized packages, are electrically simpleand low in cost, even the best commercially available devices haveoutput drifts with temperature that are commensurate in magnitude withthe torque respondent output signals. Compensation techniques toovercome this problem, e.g., using matched pairs, can add sufficientcost to mitigate the economic attractiveness of this technology. Thenon-availability of "off the shaft" components for other field sensingtechnologies, e.g., "flux gate" methods, necessitates a specific fieldsensor design for each newly contemplated torque transducer.

Power Measurements

Most shaft power measuring instruments use clearly distinct devices fordeveloping the speed and torque signals. See, for example U.S. Pat. Nos.3,978,718, 4,064,748, 4,100,794, 4,106,334, 4,306,462, 4,406,168,4,479,390. Sometimes speed and torque are determined from themeasurement of two related time intervals (see, U.S. Pat. Nos.3,729,989, 3,273,386, 5,192,382) and some devices, while employingdifferent sensing technologies for the two measurements, combine bothsensors within the same housing (see, U.S. Pat. No. 5,323,659).Nevertheless, with all such devices, multiplication of the two measuredvalues is required to determine the power transmitted by the rotatingshaft. One notable exception is the measuring device of U.S. Pat. No.2,365,073 which recognizes the desirability of providing both torque andspeed information in one signal. However, in that early device speed wasdetermined from the fortuitous presence of a fixed pattern of torquevariation. Accordingly, such a device would only have very limitedapplicability.

SUMMARY OF THE INVENTION

Therefore, it is an object of the present invention to provide anon-contact magnetoelastic torque transducer for use with rotatingshafts which is useful with low cost, solid state field sensors yet isunaffected by the undesirable consequences of drift in the quiescentoutput signal which characterizes such field sensors.

It is another object of the present invention to provide a non-contactmagnetoelastic torque transducer which provides a single output signalcontaining easily separable shaft torque and shaft speed information,enabling power to be determined from a single transducer.

It is still another object of the present invention to provide anon-contact magnetoelastic power transducer which provides an outputsignal proportional to the transmitted power.

It is a further object of the present invention to provide a non-contactmagnetoelastic power transducer in which the output signal is generatedby the rotation of the shaft. It is a still further object of thepresent invention to provide a non-contact magnetoelastic transducer ofthe polarized ring type which provides an output signal proportional totorque when using a solid state magnetic field vector sensor and anoutput signal proportional to power when using a coil as the magneticfield vector sensor.

It is yet another object of the present invention to provide anon-contact magnetoelastic torque sensor which utilizes amagnetoelastically active ring and a magnetic field modulator to cream acircumferentially modulated magnetic field which, at any angularposition, in polarity and intensity, is a near perfect linear analog ofthe torque carried by a shaft on which the ring is mounted.

It is a further object of the present invention to provide amagnetoelastic torque/power transducer which depends for its operationon the sensing of a quantity that is inherently zero when the torquebeing measured is zero and which changes in both direction and magnitudein a correlative manner with the torque being measured.

It is a still further object of this invention to provide amagnetoelastic torque/power transducer which requires no excitationfield.

It is still another object of the invention to provide a magnetoelastictorque/power transducer comprising a magnetoelastically active portionwhich has been endowed with an effective uniaxial magnetic anisotropyhaving the circumferential direction as the easy axis, and magneticallypolarized in a substantially circumferential direction.

Yet another object of the invention is to provide a magnetoelastictorque transducer comprising a magnetoelastically active portion whichincludes two or more axially distinct, magnetically contiguous,oppositely polarized circumferential regions.

Still another object of the invention is to provide a magnetoelastictorque/power transducer in which the need for shielding structures foravoiding detected magnetic field variation due to ambient fields isminimized or eliminated.

Another object of the invention is to provide a magnetoelastictorque/power transducer wherein the detected field is substantiallyinsensitive to external magnetic field sources, such as ambient fields.

A further object of the present invention is to provide a non-contactmethod for measuring torque applied to or power transmitted by arotating shaft comprising the steps of: attaching to a rotating torquedmember a circumferential transducer endowed with an effective uniaxialmagnetoelastic anisotropy and magnetically polarized in thecircumferential direction, which produces a magnetic field varying inresponse to torque on the transducer, modulating the torque-createdmagnetic field in a periodic manner, which period is indicative of thespeed of shaft rotation, and sensing a component of field output of thetransducer as an indication of torque on or power transmitted by therotating torqued member.

A still further object of the invention is to provide a method formaking a magnetoelastically active torque/power transducer having two ormore axially distinct, magnetically contiguous, oppositely polarizedcircumferential regions.

These objects and others are achieved by providing a torque/power sensorfor rotating shafts comprising a magnetoelastically active element forcreating a magnetic field indicative of the torque applied to the shaft,field modulating means for modulating the magnetic field in a periodicmanner indicative of the speed of shaft rotation, and a magnetic sensor,such as a Hall effect sensor or coil, responsive to the field of themagnetoelastically active portion. In the preferred embodiment, themagnetoelastically active portion comprises a ring of material endowedwith an effective uniaxial magnetic anisotropy such that thecircumferential direction is the easy axis, and magnetically polarizedin a substantially circumferential direction. The ring is attached tothe torqued member, such as a rotating shaft, so that application of atorque to the shaft is transmitted to the ring. In like manner the fieldmodulating means is attached to the ring or to the shaft at a locationwhich is magnetically contiguous to the ring. The torque on the ringreorients the circumferential magnetic orientation of the ring,producing a helical magnetic orientation having both circumferential andaxial components. A magnetic field vector sensor is mounted in a fixedposition relative to the ring and oriented so that it responds to themodulated field arising from the axial component of the magnetizationwithin the ring. The magnetic field vector sensor may be mounted on aflux collector if desired. The output of the sensor is thus proportionalto the change in orientation of magnetization in the ring resulting fromtorque applied to the shaft and transmitted to the ring and, where thesensor is a coil, to the speed of rotation of the shaft.

In another embodiment of the invention these and other objects areachieved by providing a torque sensor wherein the magnetoelasticallyactive portion includes two or more axially distinct, magneticallycontiguous, oppositely polarized circumferential regions. Each regionmay comprise a physically separate ring or multiple regions may beformed on a single ring.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an assembly drawing showing the sensor of the presentinvention;

FIG. 2 is a diagram showing the use of a magnetically permeable strip asa field modulator in the present invention;

FIGS. 3(a) and 3(b) are views of the sensor of the present inventionwith and without a toothed wheel field modulating ring;

FIGS. 3(c) and 3(d) are plan views of a toothed wheel field modulatingring indicating the effective air gaps between it and a magnetic fieldvector sensor;

FIGS. 4(a) through 4(c) are graphs showing the effect of homogenizer andmodulating rings on the field intensity sensed with the sensor of thepresent invention;

FIG. 5 is a schematic diagram of a transducer ring mounted on a shaftshowing alternative locations for magnetic field vector sensors;

FIG. 6 are graphical representations of the periodic waveform for thevariational (ac) component produced by the sensor of the presentinvention;

FIG. 7 is an assembly drawing showing the sensor of the presentinvention utilizing two oppositely polarized transducer rings;

FIG. 8 illustrates the apparatus for and a first step in a method ofcreating multiple, oppositely polarized, contiguous circumferentialregions in a ring;

FIG. 9 illustrates a further step in the method of FIG. 8;

FIG. 10 illustrates a still further step in the method of FIG. 8;

FIG. 11 illustrates the final step in the method of FIG. 8;

FIG. 12 illustrates the ring produced by the method of FIGS. 8-11;

FIG. 13 illustrates the graphical relationship between enclosed currentand position along the ring for the method and apparatus of FIG. 9;

FIG. 14 illustrates one method and apparatus for the simultaneouspolarizing of multiple regions on a transducer ring;

FIG. 15 illustrates another method and apparatus for the simultaneouspolarizing of multiple regions on a transducer ring;

FIG. 16 illustrates still another method and apparatus for thesimultaneous polarizing of multiple regions on a transducer ring.

FIG. 17 is a diagram showing an exemplary electrical circuit forextracting and displaying torque and speed information from Hall sensoroutput signals;

FIG. 18 is an oscillogram of a typical signal appearing across theoutput terminals of the differential amplifier in FIG. 17;

FIG. 19 is a chart recording of the transient variations in outputsignal when Hall sensors are rapidly cooled;

FIG. 20 is a graph of the rms value of the output signal at three fixedvalues of torque as a function of rotational speed;

FIG. 21 is a graph of output signal as a function of applied torque forthree values of rotational speed;

FIG. 22 illustrates the measuring circuit for displaying powerinformation from coil sensor output signals;

FIG. 23 is an oscillogram of typical power output signals;

FIG. 24 is a plot of power output signal as a function of shaftrotational speed for three fixed levels of output power; and

FIG. 25 is a plot of power output signal as a function of transmittedpower at constant shaft speed.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring first to FIG. 1, a first embodiment of a torque/power sensoraccording to the present invention is shown generally at 2. Torque/powersensor 2 comprises transducer 4 and magnetic field vector sensor 6.Torque sensor 2 is mounted on a shaft 8 which is part of a machine (notshown) and rotates about a central longitudinal axis 10. Torque 12 isapplied at one portion of shaft 8 and is transmitted thereby to anotherportion of the shaft where the motion of shaft 8 due to torque 12performs some useful work. Torque 12 is shown as being in a clockwisedirection looking at the visible end of shaft 8, but obviously can beapplied to rotate the shaft in either or both directions depending onthe nature of the machine incorporating shaft 8.

Transducer 4 is firmly attached to shaft 8 in one of a number of ways tobe explained in detail later, and acts as a means for providing anaxially or radially identifiable, magnetoelastically active region onthe shaft 8. In practice, transducer 4 will preferably take the form ofa cylindrical sleeve or ring with end faces 18 and 20, inner surface 22,and outer surface 24, suitably attached to shaft 8 at a convenientlocation along axis 10 which is within the torsionally stressed regionof shaft 8. Transducer 4 is endowed, by prior processing or as acollateral effect to the means of attachment to shaft 8, with aneffective uniaxial magnetic anisotropy having the circumferentialdirection as the easy axis. In addition, transducer 4 will also bemagnetically polarized in one or the other circumferential direction byany effective method, several of which will be later described. Briefly,transducer 4 is magnetically polarized in a substantially purelycircumferential direction 14, at least to the extent that, in theabsence of torque 12 (in a quiescent state), it has no net magnetizationcomponent in the direction of axis 10 and has no net radialmagnetization components. Thus, domains whose magnetizations oforiginally had components in the opposite circular sense aresubstantially eliminated. If the circular anisotropy is suitablydominant, all of the domain magnetizations will lie within at most aplus or minus 45° limit, and will be symmetrically distributed withinsmall enough volumes of the ring to ensure that no uncompensatedexternal flux is sensible by magnetic field vector sensor 6. The closedcylindrical shape of transducer 4 enhances the stability of thepolarization of transducer 4 by providing a complete circuit.

As will be seen, due to the construction and processing of transducer 4,application of torsional stress to shaft 8 and thus to transducer 4causes reorientation of the polarized magnetization in the transducer 4.The polarized magnetization becomes increasingly helical as torsionalstress increases. The helicity of the magnetization in transducer 4depends on the magnitude of the transmitted torque 12, and the chiralityis dependent on the directionality of the transmitted torque and themagnetoelastic characteristics of transducer 4. The helicalmagnetization resulting from torsion of transducer 4 has both acircumferential component in direction 14 and an axial component alongaxis 10. Of particular importance is that the magnitude of the axialcomponent depends entirely on the torsion in transducer 4.

Because of symmetry in the case of domains of transducer 4 which are notprecisely circumferentially polarized, and because of the purecircularity of other magnetic orientation in other domains, there is nosensible field in the space external to the quiescent, untorquedtransducer 4. Indeed, there is no passive external means of discerningthat the transducer 4 is in fact polarized. The action of the biaxialprincipal stresses associated with the transmission of torque, via theintrinsic magnetoelastic interaction of the material of transducer 4,adds an additional anisotropic influence to the equilibrium orientationof each domain's magnetization, altering the effective easy axisdirection of every domain towards the nearest effective principal stress(the stress being tensile in materials with positive magnetostrictions,and compressive in materials with negative magnetostrictions). Theoriginal symmetry or pure circularity of the magnetization is thusbroken by the application of torque so that a net helicity appears inthe magnetization within transducer 4. This helicity, combined with thesingle circular sense of the polarization, results in a magnetizationthat may be resolved into two components: a circumferential componentand an axial component. While the circumferential component is, as hasalready been mentioned, not a source of detectable fields in the spaceexternal to the transducer 4, the axial component can be readilydetectable. Transducer 4, when torqued, generates a field externallyindistinguishable from that of a tubular bar magnet, with the barmagnet's axial magnetization equal to the volumetrically averaged axialcomponent of the helically directed magnetization of each domain. Thus,the direction of applied torque determines (together with the sign ofthe effective magnetostriction of the transducer 4 material) thepolarity of the equivalent bar magnet, and the magnitude of the torquedetermines the strength of the equivalent bar magnet.

A field modulator, here shown as toothed homogenizer ring 25 ofPermalloy or similarly magnetically soft material, is provided proximateone or both polar regions 18, 20 of the transducer 4 (shown here asproximate end face 20) and firmly attached to shaft 8 or, preferably, totransducer 4 in one of a number of ways to be explained in detailhereinafter with respect to attachment of transducer 4 to shaft 8 andhaving in mind that field modulator 25 is not a torque carrying member.It is important that field modulator 25 be fixed in angular position andthat it be attached to shaft 8 or transducer ring 4 in such a mannerthat it rotates as a unit with shaft 8. It is preferable to locate fieldmodulator 25 at the polar regions 18, 20 because that is where the fluxis strongest. However, if signal strength is not a primaryconsideration, field modulators 25 could be located anywhere between thepolar ends 18, 20. The periphery of toothed ring 25 is provided withsome uniformly spaced salient feature, such as the gear-like teethillustrated in FIGS. 1 and 3. These teeth modulate the permeance of theflux paths through magnetic field vector sensor 6 as the shaft rotateswith the result that the field intensity in space near transducer 4 willvary in intensity with a circumferential pattern representative of theperipheral features. It will be appreciated that inasmuch as thefunction of the field modulator is to modulate the permeance of the fluxpaths through sensor 6, this function can be accomplished using meansother than a toothed homogenizer ring 25. Thus, the field modulator maybe any means for disturbing the otherwise circular uniformity of thetorque created magnetic field about transducer 4 in a periodic mannerwhich is tied to the angular position of the shaft and is, therefore,indicative of the speed of shaft rotation. For example, as shown in FIG.2, the field modulator may be a Permalloy strip or strip of similarlysoft magnetic material 27 affixed to and axially oriented on the surfaceof transducer 4 after transducer 4 has been magnetically polarized. As afurther example, the field modulator may be a circumferential ring ordisk having Permalloy dots uniformly spaced around its peripheral marginon the face thereof adjacent to the immediate end face 18, 20 of thetransducer 4.

The effect of a field modulator such as toothed homogenizer ring 25,shown in FIGS. 3(c) and 3(d), on the circumferential variation of fieldintensity at a fixed radius on a polar region of magnetoelastictransducer ring 4 with a fixed torque applied is compared with thevariation in field intensity for transducer rings having no homogenizerrings (FIG. 4a) and having smooth (non-toothed) homogenizer rings (FIG.3a; FIG. 4b). It can be seen by comparing FIGS. 4a and 4b that when ahomogenizer ring is present the circumferential uniformity of the fieldis assured. The effect of a toothed periphery modulating ring 25, wherethe air gap between the field sensor and the modulating ring variesbetween the extremes shown in FIGS. 3(c) and 3(d), is shown in FIG.4(c). It will be appreciated that the actual field intensity at anyparticular point along the circumference of any one circle will varylinearly with the torque. The polarity of the field, being dependentonly on the CW or CCW directionality of the torque, will therefore beconstant around any such circle.

Magnetic field vector sensor 6 is a magnetic field vector sensing devicelocated and oriented relative to transducer 4 so as to sense themagnitude and polarity of the field arising in the space abouttransducer 4 as a result of the reorientation of the polarizedmagnetization from the quiescent circumferential direction to a more orless steep helical direction and the modulation due to field modulator25. As will be seen, magnetic field vector sensor 6 provides a signaloutput reflecting either the magnitude of the torque applied to therotating shaft or the power transmitted by the rotating shaft. In oneembodiment, magnetic field vector sensor 6 is an integrated circuitdevice, such as a Hall effect sensor, and its output is indicative ofthe torque applied to the shaft. In this embodiment, wires 16 connectthe magnetic field vector sensor 6 to a source of direct current power,and transmit the signal output of IC magnetic field vector sensor 6 to areceiving device (not shown), such as a control or monitoring circuitfor the machine or system incorporating shaft 8. In another embodiment,magnetic field vector sensor 6 is a coil, preferably a coil ofconductive wire wound on a soft magnetic core, the output of which isindicative of power transmitted by the shaft.

As shown in FIG. 5, magnetic field vector sensor 6 is preferably locatednear the polar edge 18 (or edge 20) of transducer 4, since, whentransducer 4 is polarized in a single direction, the orientation of themagnetic field from transducer 4 dictates that greater field intensitywill be present near the edges 18 and 20 of transducer 4 than in otherregions proximate to transducer 4. Of course, where signal strength isnot a primary consideration, sensor 6 may also be located between thepolar edges 18, 20. In another embodiment of the present invention, alsoshown in FIG. 5, two magnetic sensors 6 and 6a (the latter shown inphantom) are used. The magnetic sensors 6 and 6a are disposed atopposite ends of transducer 4, near edges 18 and 20 respectively.Multiple sensor embodiments increase the cost of the device, but aredesirable because the magnetic sensors 6 can be connected differentiallyfor common mode rejection of temperature variations, voltage variations,and ambient field signals. Optionally, to minimize ambient fieldeffects, magnetic sensors 6 may be shielded by a shield (not shown),made of any material having very low magnetic permeability. Such ashield may surround magnetic sensors 6 in all directions other than thedirection of flux received from transducer 4. Of course, a larger numberof magnetic sensors could also be used if desired. For example, inanother embodiment shown in FIG. 5, four magnetic sensors 6, 6a, 6b and6c are used (6a, 6b and 6c are shown in phantom), with two disposeddiametrically opposite to the other two with respect to transducer 4.

In the preferred embodiment, a yoke (not shown) of magnetically soft(low coercive force, high permeability) material is provided inconjunction with the magnetic field sensor or sensors 6. The yoke servesas a means for increasing the permeance of the flux closure path throughthe magnetic field vector sensor 6. A yoke is particularly useful withHall effect integrated circuits, since these devices tend to haverelatively high noise levels, increasing with decreasing frequency.Thus, it is preferable to operate these devices using higher rather thanlower field strengths to increase the S/N (signal/noise) ratio. Varioustype yokes and yoke/sensor arrangements are disclosed in U.S. Pat. No.5,351,555, the disclosure of which is incorporated by reference herein.

Magnetic Sensor Construction

For use of sensor 2 as a torque sensor, magnetic field vector sensor 6preferably comprises one or more solid state sensing devices, such asHall effect, magnetoresistance, magnetotransistor ("magnistor"),magnetodiode, or MAGFET (Magnetic Field Effect Transistor) sensors.Other possible sensors include non-linear cores, having magneticproperties varying with H, magnetometers and flux gate magnetometers.

The solid state sensors are preferred in this application because oftheir small size and low cost, and because they can incorporate in anintegrated package desirable electronics for temperature compensation,signal conditioning, voltage regulation, and other operationalfunctions. Hall effect sensors are particularly preferred because theyhave an ideal transfer characteristic which is both linear andpolarity-sensitive. Some integrated circuit Hall Effect sensors suitablefor use as magnetic field vector sensor 6 are Model No. AD22150 made byAnalog Devices, Models UGN3503U and UGN3506UA made by AllegroMicroSystems, Inc. Similar, potentially suitable devices are alsomanufactured by MicroSwitch, Siemens, and Wolff Controls Corporation.

Magnetic field vector sensor 6 is located and oriented to produce amaximum response to the external field arising with the transmission oftorque. Following from the equivalence of the torqued transducer 4 andan axially magnetized bar magnet, the most intense fields will be foundnear the poles, i.e., near end faces 18 and 20 of transducer 4. Magneticfield vector sensor 6 is preferably fixed proximate to shaft 8 and doesnot rotate. Since most major applications of torque transducer involverotating torqued members such as shaft 8, magnetic field vector sensor 6must be radially separated from shaft 8 to avoid physical contact withshaft 8 as shaft 8 rotates. While the precise location and orientationof the magnetic field vector sensor 6 will depend on its particularoperating principle, package size, active area and other details ofconstruction as well as geometric and magnetic characteristics oftransducer 4 (e.g., sharpness of corners, radial thickness, axiallength, diameter, number of oppositely polarized, magneticallycontiguous circumferential regions) and the required radial space, anapproximately optimum location for magnetic field vector sensor 6, foruse with a transducer 4 which is polarized in a single direction, willusually be found radially outward from one of the end faces 18 and 20,oriented to sense radial flux.

The magnetic field vector also varies in direction in the space aroundtransducer 4. Recognizing that sensors 6, e.g., Hall effect devices,have a unique sensing axis, it becomes possible to orient the sensingdevice in an advantageous manner relative to the shaft axis. When thesensor 6 is advantageously oriented, the fall off in field intensity (H)with increasing distance from the transducer 4 is compensated by anincreasing sensitivity of the field sensor 6 to the field vector as thedirection of the field vector becomes more closely aligned with theorientation of the sensing axis. Stated otherwise, if Θ is the anglebetween the unique sensing axis of sensor 6 and the field vector, andthe output of sensor 6 is proportional to Hcos Θ, although H maydiminish with distance from the transducer ends, as long as Θ alsodiminishes (i.e., the sensing axis and field vector directions are madeto coincide), cos Θ increases to offset the decrease in H. Thus the needfor precise radial gap control between the transducer 4 and sensor 6 isalleviated.

Historically, despite their many benefits, the disadvantage ofintegrated circuit silicon Hall effect sensors is that they exhibitsignificant output drift with temperature of a magnitude which is oftencommensurate with the torque respondent output signals. It is one of theadvantages of the present invention that by modulating the otherwisecircular uniformity of the created magnetic field about transducer 4, ina periodic manner which is tied to the speed of shaft rotation, theundesirable consequences of drift in the quiescent output signal of suchfield sensors can be avoided. Thus, the present invention provides a lowcost, non-contact, polarized ring magnetoelastic torque sensor whosefull benefits can be realized because low cost, integrated circuitsilicon Hall effect sensors can be used without concern for the outputdrifts which traditionally have characterized such sensors. Thefollowing analysis explains why the sensor of the present invention isfree from such thermal or other drifts.

In the presence of torque T on the shaft, the field intensity H_(t) atFS when FS is directly opposite a tooth, as in FIG. 3(c), may be foundfrom

    H.sub.t =k.sub.t T.                                        (1)

where the value k_(t) depends on the ring material and its dimensions aswell as on the actual location of FS relative to the ring. Thus k_(t) isa constant associated with the specific transducer construction.Similarly, when the shaft rotates into a position such that FS iscentered over a space, as in FIG. 3(d), the field intensity H_(s)becomes

    H.sub.s =k.sub.s T                                         (2)

where k_(s) is clearly smaller than k_(t) and also reflects thespecifics of the transducer construction. Between these two locationsthe field intensity will vary continuously following some function ofthe rotational angle determined by both the precise tooth/space shapesand the point in space at which it is measured. Nevertheless, at anyrotational angle and for any air gap, the field intensity will followthe transfer function of the transducing ring, i.e., it will be a linearfunction of the torque. If the shaft rotates continuously, the fieldintensity at FS thus varies between the two extreme values, H_(t) andH_(s), each a linear function of the torque. The output signal V_(o)from FS in any field H will in general be found from

    V.sub.o =QV.sub.o +SH                                      (3)

where QV_(o) is the quiescent output signal (i.e., the offset voltage inzero field) and S is its sensitivity factor. Thus, the output signalwill vary between

    V.sub.ot =QV.sub.o SH.sub.t                                (4)

when FS is opposite a tooth, and

    V.sub.os =QV.sub.o +SH.sub.s                               (5)

when FS is opposite a space. As the shaft rotates the output signal willperiodically vary between these two extreme values. The peak variationin output signal, ΔV_(op), is found from the difference between V_(ot)and V_(os) as ##EQU1## which is both a linear function of the torque andindependent of QV_(o). ΔV_(op) is thus free from the thermal or otherdrifts in QV_(o) peculiar to any one field sensing device.

Recognizing that the shape of the periodic waveform resulting from thevariation in V_(o) accompanying shaft rotation is constant for anyspecific transducer construction, it should be clear that themeasurement of any characteristic amplitude of the variational (ac)component of the V_(o) waveform, e.g., peak to peak, rms, average ofabsolute value, etc. will provide a value that is linearly dependent onΔV_(op) and hence will be a valid measure of the torque. This isillustrated in FIG. 6 wherein the upper plot shows the variational (ac)component of the signal from the field intensity sensor, having the rawoutput signal shown in FIG. 4(c), as a function of rotational angle. Thepeak to peak amplitude is a linear function of the torque. The lowerplot shows the rectified waveform of the variational (ac) componentshown above. The dotted line represents the average of absolute valuesover the full rotation which, for any fixed waveshape, varies directlywith ΔV_(op).

It should also be clear that the frequency of this waveform isproportional to the rotational speed, being simply the number of teethin the ring (a constant for any one transducer) multiplied by the speed.Thus by spatially modulating the sensed portion of the torque responsivefield from a magnetically polarized ring, a single signal containingboth torque and speed information can be obtained with neither signalcomponent being affected by the drift characteristics of the fieldsensing device.

If the ac component of V_(o) (i.e., Voac) vs time waveform is assumedfor the moment to be represented by the simple sinusoidal function:

    V.sub.oac =kT sin (nωt)                              (7)

where n is the number of teeth on the field intensity modulating ringand ω is the angular velocity of the shaft, its time derivative becomes

    dV.sub.oac /dt=knTω cos (nωt).                 (8)

Other than the constructional constants k and n, the amplitude of theperiodic function defined by equation (8) is seen to be proportional tothe product T ω and this product is the power being transmitted by theshaft. Since more complex waveforms can be represented by the sum offundamental and harmonically related sinewaves, the sum of thederivatives of these components will similarly have an amplitude that isproportional to power.

It is not necessary to compute the time derivative of the output voltagefrom a field intensity sensor in order to develop a signal that isproportional to power. As the shaft rotates, the time varying magneticfield in the vicinity of the modulator ring will induce a periodicvoltage, e, in a nearby coil, having N turns, that is at all timeproportional to the instantaneous rate of change of flux linking thecoil, i.e.,

    e=Ndφ/dt(Faraday's Law).                               (9)

While changing periodically during rotation of the shaft, the fluxchange dφ during any small angular rotation of the shaft dΘ is always alinear function of the torque (since the flux density is proportional tothe field intensity). Thus

    dφ/dΘ=cT                                         (10)

where c varies both with constructional details and the rotation angle.Since the angular velocity ω=dΘ/dt, the induced voltage can be expressedas

    e=N(dφ/dΘ)(dΘ/dt)=(NTω)c.            (11)

Thus while the voltage induced in the coil changes periodically withrotation angle, it's amplitude is proportional to Tω, i.e., the powertransmitted along the shaft. Rotational speed may, if desired, beobtained from the frequency of this signal. It is to be noted that withthis simple construction, no electrical power source is required toobtain a signal proportional to the power being transmitted by the shaftsince this signal is actually generated by the rotation of the shaft.

Transducer Construction The construction of an effective transducer 4for use in the present invention requires proper dimensioning, propermaterial selection and proper application and orientation ofmagnetization. These and other aspects of transducer construction aredisclosed in detail in U.S. Pat. No. 5,351,555, the disclosure of whichis incorporated herein by reference.

The transducer 4 is preferably cylindrical or ring shaped having arelatively thin wall thickness. Materials therefor should be selected bymatching properties of available materials with the performancerequirements of the transducer application and in conjunction withselection of the materials for shaft 8. In the most preferredembodiment, the transducer 4 is constructed of nickel maraging steel,such as 18% nickel maraging steel. Other well known materials are alsoappropriate, depending upon the characteristics of the application.Whatever the material selected it must be ferromagnetic to assure theexistence of magnetic domains and magnetostrictive in order that theorientation of the magnetization may be altered by the stressesassociated with an applied torque.

Transducer 4 can be constructed in its basic shape from the selectedmaterial by any suitable material working process. Following formationof transducer 4, two steps are performed to impose the desiredcircumferential magnetic field orientation on the material of transducer4. First, transducer 4 is endowed, by prior processing or as acollateral effect of its attachment to shaft 8, with an effectiveuniaxial magnetic anisotropy having the circumferential direction as theeasy axis. Second, transducer 4 must be polarized in one or the othercircumferential direction.

The first step in setting up the required magnetic field orientation isto impose circumferential quiescent magnetic anisotropy on the structureof transducer 4. Magnetic anisotropy is preferably produced by physicalworking of the material of transducer 4. Any physical source of magneticanisotropy can be used, alone or in combination, to attain the desireddistribution of quiescent domain orientations, being circumferentialwithin plus or minus 45°. One source of magnetic anisotropy ismagnetocrystalline i.e., "crystal anisotropy,"which refers to thepreferred orientation of the magnetic moments ("spins") of the atoms(ferromagnetic atoms) in directions correlated with the axes whichdefine the crystal structure. A second source of magnetic anisotropy isdirectional order, which refers to the distribution of atomic species,lattice defects, inclusions (exclusions) or other chemical or structuralfeatures found in one direction (or more than one, but not all). A thirdsource of magnetic anisotropy is magnetoelastic, which is associatedwith the directionality of stress in materials having a spontaneousmagnetostrictive strain correlated with their spontaneous magneticmoment (magnetostriction-ferromagnetic). A fourth source of magneticanisotropy is shape of the material, which is associated with thedivergence of M at material boundaries. Specifically, a demagnetizingfield arises from the "poles"of a magnetized body, and is more intenseif the poles are closely spaced. Shapes other than spherical shapesinherently have some axes which are magnetically "easier" than others.Indeed, the preferred ring shape of transducer 4 has the circumferentialdirection as the easiest axis for magnetization.

Any or all of these physical sources of anisotropy can be used inconstructing transducer 4. However, a preferred embodiment of theinvention provides that the transducer 4 be assembled to the shaft witha "press fit," "shrink fit," or other type of "interference fit" whereinthe inside diameter of the transducer 4 is made smaller than the outsidediameter of the shaft at the interface. This construction places thetransducer 4 into circumferential tension (referred to as "hoopstress"). If the transducer 4 is fabricated from a material having apositive magnetostriction, this tensile stress will inherently providethe desired circular anisotropy. This method is particularlyadvantageous since the magnetic anisotropy can be generated as aninherent function of machine assembly, eliminating the need for a priorprocessing step to establish directional magnetic anisotropy intransducer 4.

Following the introduction of magnetic anisotropy to transducer 4,transducer 4 must be polarized in the desired direction, eitherclockwise or counterclockwise, about the circumference of transducer 4.Polarizing the transducer 4 (or more generally, the active element)requires the exposure of all portions to a large enough field in thedesired circular direction. The required size of the polarizing field islimited by the practical attainment of saturating effects. Use of alarger field does not noticeably change the operation of the properlypolarized device. Transducer 4 should be exposed to the field for asufficient period of time for the desired polarizing effects of thefield to take place, for eddy currents to die down, and so that nothingmore happens if the field is maintained for a longer time.

In a preferred method, transducer 4 is polarized by rotating it in thefield near two opposite magnetic poles, as provided for example by ahorseshoe magnet. During the rotation of transducer 4, the magnet ismoved radially inward close to transducer 4 (which is continuouslyrotating during the approach of the magnet) and, after a few rotationsto stabilize the effects of the magnet, the magnet is slowly moved awayfar enough so that it has no further effect on transducer 4magnetization. The polarity imparted by the magnet in this method willbe dependent on the orientation of the poles of the magnet and isindependent of the direction of rotation of transducer 4.

Another preferred method of generating a circularly directed field is bythe use of electrical currents. For example, a suitable largeunidirectional current may be conducted directly through shaft 8, onwhich transducer 4 is assembled. Alternatively, such a current may beconducted through a coaxial conductor passed through the central hole intransducer 4 prior to its assembly on shaft 8. Further, a conductorpassing a current in a single direction can be wrapped helically aboutthe inside and outside of transducer 4 to form an effective row ofconductors proximate to each of the inner surface 22 and outer surface24 of transducer 4. Current flows in opposite axial directions insideand outside transducer 4 produce additive fields in the same circulardirections.

Shaft Construction

The construction of shaft 8 is important to the invention in that shaft8 should not interfere with the operation of the sensor 2. Relevantaspects of shaft construction are disclosed in detail in U.S. Pat. No.5,351,555, the disclosure of which is incorporated herein by reference.

It is clearly advantageous in the interest of sensitivity to direct asmuch as possible of the axial flux, which arises from the torque,through the field modulator 25 and the magnetic field vector sensor 6.Shaft 8, field modulator 25 and transducer 4 should be designed to worktogether to maximize the permeance of flux closure paths through thesensor and field modulator while minimizing the permeance of allparallel paths. Thus, it is important to avoid having high permeabilitymaterials either axially or radially proximate to the edges 18 and 20 oftransducer 4 and field modulator 25. In general, magnetically permeablematerial of shaft 8 should not be permitted to create a magnetic path attransducer 4. This limitation can be achieved in several ways. Referringagain to FIG. 1, in a preferred embodiment, shaft 8 is constructed oflow permeability (i.e. paramagnetic) material and transducer 4 ismounted directly to shaft 8. In another embodiment, shaft 8 isferromagnetic and a low permeability spacer is disposed between shaft 8and transducer 4. In a further embodiment, shaft 8 has a substantiallysmaller diameter in regions proximate to transducer 4 or shaft 8 isentirely cut away in such regions. In either case, a connecting sleeveof low permeability material is provided to bridge the gap created bythe cutting away of shaft 8. Transducer 4 is then mounted on theconnecting sleeve.

It should be emphasized that proper operation of sensor 2 requires thatthere be no slippage between any of the components at their interfaces.Each assembly must act as one body over the entire rated torque range.That is, transducer 4 must be attached to the torqued member in such away that the surface shear strain of their interface is the same onboth, i.e., no slip. Somewhat less obvious, but no less important, isthe requirement that there be no inelastic strain in shaft 8 in anycross section which includes the transducer 4. Thus, all strainsassociated with the transmission of torque must be fully recoverablewhen the torque is relaxed. If slippage on any scale occurs the stressin the transducer 4 will not represent the torque applied to the shaft.

Attachment of Transducer to Shaft

As already indicated, the transducer 4 and underlying shaft must act asa mechanical unit. Rigid attachment of the transducer 4 either directlyor indirectly to shaft 8 is crucial to proper operation of transducer 4.In principle, the transducer 4 need only be attached at the two ends forthis requirement to be met. The details of transducer/shaft attachmentand various methods of achieving suitable attachment are disclosed indetail in U.S. Pat. No. 5,351,555, the disclosure of which isincorporated herein by reference.

Methods of attachment may be classified according to the points of forcedistribution for the transmission of torque along the shaft. The pointsof force distribution may be either salient, distributed (areal) ordiffuse.

Salient force distribution can be achieved by providing mating surfaceson transducer 4 and shaft 8 having mutually engaging profiles, such as anon-round shaft engaging a matching polygonal or elliptical hole in thetransducer 4. Matching internal and external splines, knurls, or teethcan be cut on the inner surface 22 of transducer 4 to mate with similarstructures cut onto shaft 8. Teeth can be cut into the edges 18 and 20of transducer 4, mating teeth can be cut into the ends of two segmentsof shaft 8, and axial projections provided on the shaft segments to matewith the center hole in transducer 4 such that when transducer 4 isassembled to the two segments of shaft 8, the teeth on the shaft 8 matewith the teeth on the transducer 4 to render the shaft 8 and transducer4 relatively rotatively immobile. In other embodiments, keys, pins, oreven set screws could be used, although these fastening methods arepreferred only for less structurally demanding applications.

Distributed transmission of forces can be achieved by friction oradhesive bonding of transducer 4 to shaft 8. The joint is subjected tothe same shearing stress as that being transmitted. This bonding limitsthe maximum measurable torque to a lower value than might otherwise behandled by the shaft 8 alone or transducer 4 alone, but is advantageousfor other reasons as indicated previously. Press or shrink fits can beused to obtain the desired circular anisotropy, and can provide verysubstantial gripping forces which as a practical matter will not bebroken by expected torques on shaft 8. With clean, degassed (and perhapsdeoxidized) surfaces, the effective coefficient of friction can risewithout limit and act somewhat like a weld. There are also someanaerobic adhesives which make tight fits tighter by expanding intomicroscopic crevices when they harden. If temperature and environmentalconditions do not prevent the use of adhesives, adhesives can be usedwith designs of transducer 4 in which the adhered area is large comparedto the cross sectional area of either the transducer 4 or the joint.This can be done by creating transducer 4 from a spirally wrapped stripusing interlayer adhesive.

If a transducer ring is attached to a shaft by the friction associatedwith an interference fit, it is difficult to obtain a homogeneousinterference right up to the very ends of the ring. Thus, internalchamfers or radii, tool marks, nicks, etc. prevent the uniform transferof torque form the shaft to the ring at all portions of the periphery atthe precise edge of the transducer ring. Local stresses and local stressgradients associated with these geometric imperfections are manifestedby circumferential variation in the field produced by a given torque anda circumferentially variable departure from a truly zero field with zeroapplied torque. Rather than try for geometric perfection at the ringends it is more practical to avoid this "end effect" problem byestablishing stress free zones, of small axial extent, at each of thering ends. By making the axial length of these sections large comparedto the circumferential variation in location, relative to the plane ofeither transducer ring end, of the points of first firm contact betweenthe ring and the shaft, these unstressed zones will serve to average outthe local field variations. Several methods of accomplishing thisinclude undercutting the shaft to avoid contact at the ring ends,relieving the inside end portions of the ring itself to avoid contactingthe shaft, enlarging the outside end portions of the ring to reduce thetorque associated stresses therein and adding high permeability, lowmagnetostriction, (thus stress has no effect) material at the ring endsto homogenize the end effects.

Diffuse force distribution can be achieved using welds or brazing. Weldscan obviously be used at the ends or through perforations in thetransducer 4. Spot welds or continuous line (seam) welds or welds overparts or all of the transducer 4 area (forge welding) can also be used.The transducer 4 could also be cast around the shaft in a mold, orsprayed (molten condition), explosively welded, electroplated or createdby ion implantation or other surface modification of the shaft surfacesuch that the transducer is directly or indirectly attached to or formsa part of the surface of the shaft. Clearly, combinations of thesegeneral methods might also be used and might be especially suitable forspecific applications.

Thus, the present invention provides an improved method of sensingtorque or power on a rotating shaft. In the first step of one preferredform of the method, a transducer 4, according to the present invention,is constructed and attached about the circumference of a machine shaft 8by one of the methods disclosed previously. Either before attachment orduring the process of attachment, as described previously, transducer 4will be endowed with the required anisotropic magnetic properties, andcan be polarized at any time either before or after endowment withanisotropic magnetic properties. A field modulator, such as toothed ring25, is attached about the circumference of transducer 4 or magneticallycontiguous to transducer 4 about the circumference of shaft 8. The shaft8-transducer 4-field modulator 25 assembly is then installed in themachine. A magnetic field vector sensor 6 according to the invention isinstalled proximate to transducer 4 with an orientation permittingreception of the modulated, stress-induced magnetic field of transducer4. In operation of the machine, magnetic field vector sensor 6 thenprovides a signal linearly indicative of either torque or power on shaft8, and the signal is monitored by a feedback control or other monitoringcircuit connected to magnetic field vector sensor 6. If the magneticfield vector sensor 6 is a solid state sensing device, such as a Halleffect sensor, the output signal is linearly indicative of torque onshaft 8 and is independent of the drift in the quiescent output signalwhich is typically characteristic of such field sensors. If the magneticfield vector sensor is a coil, the output signal, which is generated bythe rotation of shaft 8, is linearly indicative of power transmitted byshaft 8.

It can be seen from the foregoing that the magnetic field created by athin ring of circumferentially polarized magnetostrictive material is anear perfect linear analog of the torsional stress in the ring. Withsuch a ring rigidly mounted on a shaft, it is only necessary to measurethe modulated field in the space near the ring in order to obtain ameasure of the torque being carded or power transmitted by the shaft.The absence of any external source of magnetization together with theindependence from the characteristic output drifts with temperature ofreadily available low cost field sensing devices encourages the use ofthis simple construction for both industrial and automotive torquetransducer and power transducer applications. Nonetheless, in someapplications, variation in the detected magnetic field arising fromchanging orientation of the transducer assembly in ambient fields, suchas from the earth, or-changing proximity to electric motors ormagnetized machine parts, can compromise the accuracy of the torque orpower indication. Thus, as has been pointed out hereinbefore, practicalembodiments of these transducers often require the use of eithershielding structures with a concomitant increase in overall size, oractive compensation methods which can significantly increase theircomplexity. In a further embodiment of the present invention there isdisclosed a modification of the basic transducer construction whichdepends only on symmetry to substantially reduce the effect of externalsources on the detected field.

In the arrangement of FIG. 5, a field sensor 6 oriented to detect fieldsin the radial direction is seen to be located near one end of thetransducer 4. Common practice is to locate a second (identical) sensorin a diametrically opposite position (e.g., sensor 6b) or in asymmetrical position at the other end of the ring (e.g., sensor 6a). Ineither case, since the second sensor is in the same plane as sensor 6and identically oriented, flux generated by the transducer ring 4 passesthrough it and sensor 6 in opposite directions. On the other hand,ambient fields will generally arise from distant sources and thus be ofsufficiently low gradient to have the same direction and approximateintensity at both field sensor locations. Moreover, as long as radiallydirected fields from outside sources are small compared to theanisotropy field, they will not alter either the direction ororientation of the ring magnetization. Thus, as has already beendescribed hereinbefore, with this arrangement, the difference in theoutput signals from the two sensors is, to the largest extent, due onlyto the field generated by the ring itself.

In contrast to its insensitivity to radial fields, the orientation ofthe magnetization in the ring can be readily affected by an axialmagnetic field (H_(a)). While the effects of torque and axial field ondetected field are themselves indistinguishable, it has been found thatthe different dependencies of their respective effects on the directionof the circular magnetization provides a means to separate them.

FIG. 7 shows a torque/power sensor construction 100 utilizing twooppositely polarized rings 104, 105 to effectively eliminate anydependence of the detected field on axial fields. In the constructionshown, transducer rings 104, 105 are mounted on shaft 108 and fieldmodulating rings 107a,b,c are mounted on transducer rings 104, 105 onthe end faces of each transducer ring and at the contiguous faces of thetransducer rings, locations where the field intensity is the highest.When using multiple field modulating rings it is important that theteeth on the rings are circumferentially aligned in order to maximizethe field modulation amplitude. For this reason it is important that themodulating rings be fixed in angular position in such a manner thatrelative slippage is avoided. The field modulating rings 107a,b,c, maybe conveniently maintained in position by the optional use ofnon-magnetic spacer rings (shown in phantom). Magnetic field vectorsensors 106 are mounted closely adjacent the upper surfaces of thetransducer rings on opposite sides of central modulating ring 107b.Particularly when using coils as field sensors, it may be desirable interms of improving signal strength, to circularly arrange sensing coilsin a plane perpendicular to the shaft axis with one coil adjacent eachtooth of each modulating ring. Although transducer rings 104, 105 areshown to be abutting, they need not be physically contiguous. It issufficient if rings 104, 105 are close enough that their individuallygenerated fields can be detected by the same field sensors. Whenarranged in this manner the rings can be said to be magneticallycontiguous.

In this arrangement of torque/power sensor 100, where oppositelypolarized rings are magnetically contiguous, the total detected field atthe contiguous faces of these rings will be solely dependent on thetorque applied to the shaft and will be independent of axial magneticfields Moreover, the use of two field sensors also provides independenceof the transducer output signal from radial fields. Since arbitraryfields from outside sources may have both radial and axial components,this dual ring construction provides an output signal that issubstantially independent of all such fields. The configuration andmanner of constructing magnetoelastic torque sensors having axiallydistinct, magnetically contiguous, oppositely polarized circumferentialregions is more fully disclosed in copending U.S. application Ser. No.08/253,022, filed Jun. 2, 1994, the disclosure of which is hereinincorporated by reference.

It will be appreciated that this independence from ambient fieldsgreatly attenuates the "magnetic noise" in the output signal of thefield sensor, thereby reducing or eliminating the need for bulky andexpensive shielding. The attendant increase in signal/noise ratio withthis dual ring construction has great significance in the automotivepower steering application wherein the signal fields are relativelyfeeble. If the magnetic noise is low enough, the electrical outputsignals of the field sensors can be electronically amplified to provideany effective sensitivity desired. This very same effect can be obtainedwith the rings polarized in the same circular direction if therespective magnetostrictions of the rings have opposite signs. However,considering the very limited number of materials having a suitablecombination of magnetic and mechanical properties, this possibility iscommercially unlikely.

Not only can two oppositely polarized, magnetically contiguous ringsreduce the effects of ambient magnetic fields on indicated torque, butalso this result can be achieved with any number of physically separatebut functionally cooperating circumferential rings. In addition, it hasbeen found that in lieu of two separate rings, a single ring can beutilized which is divided into two or more oppositely magnetized,axially distinct circumferential regions, with each pair of magneticallycontiguous, oppositely polarized regions separated by a domain wall anddistinguished by the magnetic field each creates in proximate space whentorsionally stressed. The regions may be abutting or may be axiallyspaced apart with non-polarized circumferential regions therebetween.They may or may not be physically distinct regions and there may or maynot be non-destructive ways for determining their respective axiallocations or their states of magnetization other than by the applicationof torsional stress.

Whether the transducer ring is attached to the shaft by an interferencefit or by other methods described hereinbefore, such as swaging the endsof a ring over serrations on the shaft, in order to ensure a rigidconnection independent of the coefficient of friction or by othermechanical means of attachment (pins, keys, etc.) or even by welding, aproblem is that the torsional stress in the ring is inhomogeneous in thearea of attachment. Therefore, if the full axial extent of the ring ispolarized, the "pole" strength is not uniform around its circumference.

This troublesome effect can be reduced by limiting the polarized regionsto portions of the ring that are far enough distant from the attachmentareas to not feel their associated stress concentrations. For example, atorque sensor can comprise a single transducer ring attached onto theshaft and having localized, axially distinct, oppositely polarizedcircumferential regions and non-polarized circumferential end regions,with the areas of attachment, by whatever means, in the non-polarizedend regions.

The oppositely polarized circumferential regions need not even be placedon the shaft, for example, by attachment of a transducer ring on thesurface of the shaft. Rather, the oppositely polarized regions can forma part of the surface of the shaft. This concept of local polarizationis not limited to the establishment of two polarized regions but may beused to construct torque sensors having more or less than two (e.g., 1,3, 4) polarized regions. Likewise, the notion is equally applicable torings formed of separate pieces, to single rings on which multipleregions are formed and to any of the methods hereinbefore described forestablishing a magnetoelastically active region on or forming a part ofthe surface of the shaft.

In this connection the term "on" the surface of the shaft includes anysurface of the shaft and, specifically, the inner diametric surface of atubular shaft. For example, a transducer ring having a negativemagnetostriction, e.g., nickel, high nickel alloys, many ferrites, andthe like, may be pressed into the opening of a tubular shaft to form aninterference fit with the inner diametric surface, whereby thecompressive "hoop" stress resulting from such an inverted configurationachieves the desired circular anisotropy in the ring. The fieldmodulator would have to be similarly mounted and the magnetic fieldsensor would be mounted in such a way as to protrude into the hollowring to wherever the poles form. Such a construction would facilitatethe measurement of torque transmitted to or from a pulley (or sprocketor gear) mounted near the end of a shaft and would be useful at the endof motor shafts, for example.

Where there are two magnetically contiguous, oppositely polarized,axially distinct circumferential regions, as can be seen from FIG. 7,the preferred location for the field modulator is where the flux isstrongest. Thus, if a single modulating ring were used, it wouldpreferably be located at the domain wall between or the contiguous facesof the two oppositely polarized regions. More desirably, when three (3)modulating rings are employed, as shown in FIG. 7, the two additionalmodulating rings are positioned at the free ends of the regions. Thisarrangement allows the modulating rings to more effectively create fluxbundles between the free ends and contiguous ends of the oppositelypolarized regions. Locating the modulating rings only at the free endscould not be as advantageous an arrangement since the flux is not asstrong at the free ends as at the contiguous ends and because the fieldat the free ends is not free of ambient field effects. The field sensorsare preferably located on opposite sides of the domain wall between, orthe contiguous faces of, the two oppositely polarized regions. However,in many cases it is difficult to precisely position the field sensor orto identify the precise location of the domain wall. In someapplications the shaft moves axially due to beating clearances, thermalexpansion, and the like, thus upsetting even the most carefully alignedfield sensor. By use of more than two polarized regions, it has beenfound that the required accuracy of alignment of the shaft/ring assemblyand the sensor assembly can be reduced.

Turning now to methods of polarizing the various domains, it will beappreciated that if separate transducing rings are used for each domain,then each transducing ring may be polarized before it is assembled onthe shaft. This "prepolarizing" can be done using any of the methodshereinbefore taught. If two or more locally polarized regions are to beinstilled into a single ring (either separate from the shaft physicalentity or a functionally equivalent, bandlike portion of the shaftitself) then not all of these methods are viable. The choice ofpolarizing method will depend on many factors, e.g., whether the ring isalready assembled to the shaft, the physical sizes of the ring and theshaft and whether a single torque transducer is to be made or manytransducers are to be mass produced. Whatever the specific choice ofmethod, there are two general modes of polarizing any onecircumferential region, i.e., all at once or sequentially.

Polarizing the entire circumference all at once is accomplished by thepassage of an electrical current either through the shaft itself orthrough a coaxial conductor threaded through the ring. An example of howmultiple, oppositely polarized; contiguous circumferential regions maybe created in a ring by this method is illustrated in FIGS. 8, 9, 10 and11 and explained hereinafter. With reference to FIG. 8, a conductivecontainer 170 is electrically connected via conductor 172 and d.c. powersource 174 to a conductive liquid 176 within the conductive container170. The conductor 172 passes coaxially through ring 178 which,initially, is supported out of contact with conductive liquid 176. Withthe polarity of d.c. source 174 arranged as indicated, upon current flowthrough conductor 172 the entire axial length of the ring is polarizedin a first direction (indicated as +). In a second step, shown in FIG.9, ring 178 is immersed in conductive liquid 176 up to circumferentialposition A, the polarity of d.c. source 174 is reversed, and a currentpulse is made to flow through the conductor 172, conductive liquid 176and centrally through those portions of the ring 178 not immersed in theconductive liquid. In this manner, the polarity in those portions of thering 178 in which the current is flowing, i.e., those portions of thering 178 not immersed in the conductive liquid 176, is reversed(indicate as -). In a third step, shown in FIG. 10, the ring 178 isfurther immersed in conductive liquid 176 up to circumferential positionB. The polarity of d.c. source 174 is again reversed and again currentis made to flow centrally through those portions of the ring notimmersed in the conductive liquid to again reverse the polarity in thenon-immersed portions (indicated as +). In a final step, shown in FIG.11, the ring 178 is still further immersed in conductive liquid up tocircumferential portion C. The polarity of d.c. source 174 is againreversed and again current is made to flow through the non-immersedportions of the ring to reverse the polarity in those portions(indicated as -). The resulting polarized ring 178, shown in FIG. 12,comprises four contiguous, axially distinct, oppositely polarizedcircumferential regions separated by domain walls A, B, C.

In like manner, any desired number of circumferential, oppositelypolarized regions may be created in ring 178. If it is desired tointerpose a non-polarized band between any of the regions, or at theends of the ring, these can be created by positioning the ring as in anyof FIGS. 8-11 and passing a damped alternating current through conductor172 in order to "non-polarize" the non-immersed portions of the ring.

The conductive liquid may be mercury, molten Wood's metal, or the likeor need not be an actual liquid. Rather, it may be, for example, afluidized bed of a finely divided conductive solid, e.g., copper,aluminum or graphite. If the shaft isn't inconveniently long the abovedescribed method can also be used to create multiple domains in a ringthat is already assembled onto a shaft. Instead of a liquid, the shaftmay be "immersed" in a conductive tube fitted with spring fingersencircling the ring and making good electrical contact oversubstantially the entire ring circumference. The idea, of course, is toprevent the conducted current from flowing (coaxially) within the ringin those portions wherein no further polarization is desired. Once thecurrent enters the region where the ring is no longer the outermostconductor it spreads radially, diffusing over the entire conductivearea. The magnetizing field acting at any radius within the ring isdirectly proportional to the axial current enclosed. (H=0.2 I/r where His the field in Oersteds, I the enclosed current in amperes and r theradius in centimeters.) Consider the graphical illustration shown inFIG. 13 of enclosed current vs position along the ring for thecircumstance shown in FIG. 9. A short distance below "A" the magnetizingfield due to the enclosed current becomes less than the coercive forceof the ring material and is thus unable to reverse the magnetization inthese (immersed) portions of the ring.

Polarizing the entire circumference sequentially requires rotation ofthe ring while each region (or portion thereof) being polarized issubjected to a local field having the required polarity. One, some, orall of the regions can be polarized simultaneously in this manner.Either electric currents or permanent magnets can be used as thesource(s) of the local field(s), as is shown in FIGS. 14, 15 and 16.

With reference to FIG. 14, ring 180 is mounted on shaft 182 in anymanner described hereinbefore. Conductor 184 is arranged in optionalyoke 186 adjacent ring 180 in such a manner that current flows inopposite directions in the portions of conductor 184 adjacent ringregions AB and CD than adjacent ring region BC. In this manner, as ring180 and shaft 182 are caused to rotate in one direction, oppositepolarizing fields arise in ring regions AB and CD as compared to ringregion BC. After several rotations the contiguous regions are oppositelypolarized. The same result is achieved in the arrangement illustrated inFIG. 15 wherein permanent magnets 190, 192, 194 are arranged adjacentring regions AB, BC and CD, respectively. The polarities of magnets 190and 194 are arranged identically and oppositely to the polarity ofmagnet 192 such that, as ring 180 and shaft 182 are caused to rotate inone direction and the magnets are simultaneously withdrawn (or keepersare inserted across the poles) ring regions AB and CD become oppositelypolarized compared to ring region BC. A similar result is achieved inFIG. 16 wherein ring 200 is mounted on shaft 202 and magnets 204 and 206are arranged on diametrically opposite sides of ring 200 adjacent ringregions AB and BC, respectively. For descriptive simplicity only tworegions are shown for ring 200 although, it will be appreciated, anynumber of regions can be formed along the ring. The polarities ofmagnets 204 and 206 are similarly arranged. However, due to theirrespective positioning on opposite sides of ring 200, as ring 200 andshaft 202 are caused to rotate in one direction and the magnets aresimultaneously withdrawn (or keepers are inserted across the poles),ring regions AB and BC become oppositely polarized.

Experimental Results

The advantages of the torque/power sensor of the present invention hasbeen demonstrated experimentally. A torque/power sensor was constructedand tested under various conditions of torque and rotational speed usingboth Hall effect and coil type field sensors. A 203 mm long shaft of 303stainless steel and a 17.5 mm long transducing ring of 18% Ni maragingsteel were provided with matching tapers in the bore of the ring andcentrally on the mating surface of the shaft to simplify attainment ofan assembly having a controlled interference fit. In this case the ringwas axially pressed 5 mm (from the hand tight position) onto thestainless steel shaft. The resulting contact pressure at their interfaceprovided sufficient friction for the ring and shaft to act as amechanical unit while the tensile hoop stress in the ring establishedthe circumferential direction as the magnetic "easy axis". Though thering was physically a single piece it was effectively divided into twomagnetically distinct regions, A and B, by polarizing each axial half inrespectively opposite circumferential direction. Simultaneouspolarization of both regions was accomplished by rotation past anassembled pair of oppositely poled electromagnets. This "dual region"design was chosen to avoid possibly troublesome effects from therelatively strong (>10 Oe at the highest levels of torque) magneticfields created by the dynamometer used in this demonstration.

Three modulator rings, formed of 78 Permalloy, annealed in hydrogen for1 hour at 1100° C., as shown in FIGS. 3(c) and 3(d), were affixed, bylight press fits, one at each end and one in the center of themagnetically active ring. The circumferentially aligned modulator ringswere accurately located and held square to the shaft axis by means ofstainless steel spacer rings fitting closely over the transducer ring.The assembled field generating portion of the transducer is illustratedin FIG. 7.

Each region A and B in this figure effectively comprises a separatefield generating region. Since the transducer ring is oppositelypolarized in the two regions, under an applied torque, oppositelydirected fields arise in the two axial spaces between an end and thecenter modulator rings. Two field sensors mounted to the flame of theexperimental set-up were inserted in these spaces as indicated in FIG.7. Connecting these sensors to sense the differential field in these twospaces eliminated effects of fields from other sources (e.g., those fromthe dynamometer) having the same direction in each space.

The shaft was driven by a nominally 1.5 HP-2300 RPM DC shunt motor withthe transmitted power absorbed in a water cooled eddy currentdynamometer (Borhgi & Saved Model FA 100/30 SL). The reaction torquedeveloped on the dynamometer casing was measured with a load cell(Interface Model SSM 500) calibrated with weights on a measured leverarm. Rotational speed was indicated directly in RPM using a digitalfrequency meter displaying the count of electrical pulses generated inone second (i.e., hertz) by the teeth on a 60 tooth steel gear passing amagnetic proximity sensor. Two Hall effect integrated circuit fieldsensors (Allegro type 3506 UA) or two coils (to be describedhereinafter), mounted on small circuit boards, were used to sense thegenerated field.

The electrical circuit used for extracting and separately displaying thetorque and speed information from the Hall sensor output signals isschematically shown in FIG. 17. An (ac coupled) oscillogram of a typicalsignal appearing across the output terminals of the differentialamplifier (V_(o) in FIG. 17) is shown in FIG. 18. The effectiveness ofthe modulator rings in creating a periodic variation in the magnitude ofthe sensed field is clearly evident. The relatively flat and prolongedpeaks representing the sensed field opposite a tooth suggests that amodulator ring having narrower teeth and wider intertooth spaces wouldprovide a signal having a greater peak to peak amplitude for the sametorque.

The chart recording in FIG. 19 shows, for conditions of fixed torque androtational speed, the transient variations in V_(o) when first one Hallsensor and then the other was rapidly cooled by a momentary spray of aliquid refrigerant (chlorodifluoromethane). The dramatic changes inV_(o) seen in this recording resulted from the "thermal drift" in QV_(o)of the sprayed sensor. While it is not likely that such steep thermalgradients would exist in any practical application, the allowablevariation in QV_(o) of any one Hall sensor over the rated temperaturerange is itself comparable to the intensity of the field created by thetransducing ring under rated torque. On the other hand, since thenominal variation of sensitivity (S in equations (3)-(6)) was designedto be -02%/°C. individual variations in S will expectedly have a farsmaller (and if required, a more easily compensated) effect on V_(o).What is most dramatic is the lack of visible change in the peak to peaksignal (top to bottom of darkened band) throughout the entire recordingperiod shown in FIG. 19, which attests to the usability of Hall sensors,in spite of their propensity for thermal drifts, to provide a reliablemeasure of torque by simply separating out the amplitude of the fieldmodulation.

Measurements of the rms value of the output signal (Voac) at three fixedvalues of torque are plotted against rotational speed in FIG. 20. It isnoteworthy that the output signal was substantially constant, subject toexplainable measurement errors, indicating that the output signal is anearly perfect analog of the shaft torque over a wide range of shaftspeeds and torques.

The data plotted in FIG. 21 indicates the expected linear variation inoutput signal with torque. The small signals seen to be present at zerotorque represent both circuit noise and drag torque. Subject toexplainable measurement error this plot is a highly accurate linearcorrelation indicating that the output signal accurately indicates shafttorque irrespective of shaft speed.

Power measurements were made using two small coils, instead of the Halleffect devices, as field sensors. Each coil core was made from a mixtureof Permalloy powder and epoxy. The winding consisted of 1000 turns ofpolynylon insulated #40 AWG wire. The measuring circuit, as can be seenfrom FIG. 22, was comprised solely of a voltmeter and series connectedcoils. Since the signals were directly generated in the coils, noelectronics were needed other than were contained within the digitalvoltmeter.

FIG. 23 is an oscillogram of typical output signals. The waveshapeshould be recognized as the time derivative of the (inverted) waveformshown in FIG. 18, as expected from consideration of equation (9). Sincethe period of the wave seen in FIG. 23 is the time between passages ofsuccessive teeth on the modulator rings, six such periods represent thetime for a single rotation of the shaft. Hence, FIG. 23 indicates thatthe shaft rotates once each 18 ms, i.e., at 3300 RPM.

FIG. 24 shows the relative constancy of the output signals over widespeed ranges at three fixed levels of transmitted power. The imperfectflatness of these data sets reflects explainable measurement error. Thedata plotted in FIG. 25 shows that the linear variation in output signalwith transmitted power at constant speed, predicted by equation (11), isclosely realizable even with this unshielded experimental transducer.

I claim:
 1. A magnetoelastic torque sensor for providing an outputsignal indicative of the torque applied to a rotating torqued memberabout an axially extending axis of said member, comprising:amagnetoelastically active element comprising ferromagnetic,magnetostrictive transducer means directly or indirectly attached to/orforming a part of the surface of said member in such a manner thattorque applied to said member is proportionally transmitted to saidelement; said magnetoelastically active element being endowed with aneffective uniaxial magnetic anisotropy having the circumferentialdirection as the easy axis and magnetically polarized in acircumferential direction, whereby, when torque is applied to saidmember, said magnetoelastically active element produces a magnetic fieldvarying with said torque; field modulating means formed of magneticallysoft material for modulating said magnetic field in a periodic mannerindicative of the speed of member rotation, said field modulating meansbeing supported to rotate as a unit with said shaft, and magnetic fieldsensor means mounted proximate to said magnetoelastically active elementand oriented with respect thereto for sensing the amplitude of saidmodulated magnetic field and providing a torque-indicative output signalin response thereto.
 2. The torque sensor of claim 1 wherein said fieldmodulating means is directly or indirectly attached to saidmagnetoelastically active element.
 3. The torque sensor of claim 1wherein said field modulating means is directly or indirectly attachedto said member at a location which is magnetically contiguous with saidelement.
 4. The torque sensor of claim 1 wherein said field modulatingmeans comprises a ring having a uniformly spaced salient feature aroundits periphery.
 5. The torque sensor of claim 4 wherein said salientfeature is uniformly spaced gear-like teeth.
 6. The torque sensor ofclaim 4 wherein said field modulating means comprises two or moreaxially spaced apart rings, the corresponding salient features on eachsaid ring being circumferentially aligned.
 7. The torque sensor of claim1 wherein said transducer means comprises at least one tubular ringhaving opposite end faces and an axially extending circumferentialportion therebetween.
 8. The torque sensor of claim 7 wherein saidtransducer means comprises two or more axially distinct, magneticallycontiguous, circumferential regions which are oppositely polarized in acircumferential direction.
 9. The torque sensor of claim 7 wherein saidsensor means is positioned proximate at least one end face of said ring.10. The torque sensor of claim 7 wherein said ring is attached coaxiallywith and about the surface of said member through an interference fitbetween the inner diameter of said ring and the outer diameter of saidmember.
 11. The torque sensor of claim 10 wherein said inner diameter ofsaid ring is tapered and the outer diameter of said member iscorrespondingly tapered.
 12. The torque sensor of claim 1 wherein saidmember is formed of a low permeability material.
 13. The torque sensorof any of claims 1, 4, 7, 8 or 10 wherein said magnetic field sensormeans comprises a solid state sensor and said output signal isindicative of the torque applied to said rotating member.
 14. The torquesensor of claim 1 wherein said magnetic field sensor means comprises aHall-effect sensor.
 15. A method of sensing a torque applied to arotating torqued member extending in an axial direction, comprising thesteps of:(a) providing a magnetoelastically active ferromagneticmagnetostrictive element endowed with an effective uniaxial magneticanisotropy having the circumferential direction as the easy axis andwhich is magnetically polarized in a circumferential direction, saidelement being directly or indirectly attached to or forming part of thesurface of said torqued member such that torque applied to the member isproportionally transmitted to said element; (b) producing a magneticfield as a consequence of the application of torque to said member; (c)modulating the torque-created magnetic field in a periodic manner, theperiod being indicative of the speed of member rotation; and (d)sensing, at a position proximate to said magnetoelastically activeelement, the amplitude of said modulated magnetic field as an indicationof the torque applied to said member.
 16. The method of claim 15 whereinsaid magnetoelastically active element is attached about thecircumference of said member via an interference fit.
 17. The method ofclaim 16 wherein said interference fit is produced by tapering the outersurface of said member and forcing onto said tapered outer surface atubular magnetoelastically active element having a corresponding taperon its inner diameter.
 18. The method of claim 15 wherein step (d) isaccomplished at least in part by positioning a magnetic field sensingdevice proximate to and spaced from said magnetoelastically activeelement.
 19. The method of claim 15 wherein said element comprises twoor more axially distinct, magnetically contiguous circumferentialregions which are oppositely polarized in a circumferential directionand separated by a domain wall between each contiguous pair of regions.20. The method of claim 15 wherein said modulating step comprisesproviding field modulating means formed of magnetically soft materialdirectly or indirectly attached to said element or to said member at alocation which is magnetically contiguous with said element in such amanner that said field modulating means rotates as a unit with saidshaft.
 21. The method of claim 20 wherein said field modulating meanscomprises at least one ring having a uniformly spaced salient featurearound its periphery.
 22. The method of any of claims 15, 16, 19 or 20wherein said sensing step is accomplished by positioning solid statesensors proximate to and spaced from said element and sensing theamplitude of said modulated magnetic field therewith.